CN110223482A - The alarm method and device of automatic driving vehicle - Google Patents
The alarm method and device of automatic driving vehicle Download PDFInfo
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- CN110223482A CN110223482A CN201910537794.8A CN201910537794A CN110223482A CN 110223482 A CN110223482 A CN 110223482A CN 201910537794 A CN201910537794 A CN 201910537794A CN 110223482 A CN110223482 A CN 110223482A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000012544 monitoring process Methods 0.000 claims abstract description 48
- 238000004590 computer program Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 abstract description 9
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 206010000117 Abnormal behaviour Diseases 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- Business, Economics & Management (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Alarm Systems (AREA)
Abstract
The application proposes the alarm method and device of a kind of automatic driving vehicle, wherein, method includes: the interior monitoring image by obtaining automatic driving vehicle, according to interior monitoring image, identify the personnel's relationship and relative distance between passenger, when comparing to determine that relative distance is less than the corresponding first threshold of personnel's relationship, remote alarms information is sent, control automatic driving vehicle continues traveling to setting website.After this method recognizes personnel's relationship and relative distance between passenger by interior monitoring image, when relative distance between passenger is less than personnel's relationship corresponding first threshold, there may be suspicious actions by passenger, send remote alarms information, and then the person and property safety of revenue passenger are ensured that ensure that police gets on the bus inspection in setting website by travel speed, route etc. of control automatic driving vehicle.
Description
Technical field
This application involves unmanned technical field more particularly to a kind of alarm methods of automatic driving vehicle.
Background technique
Automatic driving vehicle is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, relies primarily on car
Intelligent driving instrument based on computer system is unmanned to realize.According to planning, pilotless automobile can automatic identification friendship
Logical direction board and running information, have the electronic equipments such as radar, camera, global navigation satellite, and install synchronous sensor, car owner
As long as navigation system input destination, automobile can automatic running, go to destination, in the process of moving, automobile can pass through
Sensing equipment uploads traffic information, real-time positioning analysis is carried out on the basis of mass data, to judge driving direction and speed.
With the research and development and continuous development of automatic driving vehicle, in the near future, automatic driving vehicle will be applied to
In people's lives.For example, unmanned minibus will be applied in the scenes such as park, house.Unmanned minibus is expert at
During sailing, has part layabout and ride.But unmanned minibus does not have the administrative staff such as driver, crew
It is travelled with vehicle, might have some passengers and make the behaviors such as suspicious actions, such as stealing, harassing and wrecking, not can guarantee revenue passenger
Safety by bus.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
The application proposes the alarm method and device of a kind of automatic driving vehicle, to realize through interior monitoring image identification
To after the personnel's relationship and relative distance between passenger, to send remote alarms information after the abnormal behaviour of discovery passenger, into
And got on the bus inspection by travel speed, route etc. of control automatic driving vehicle with ensuring police in setting website, so that it is guaranteed that
The person and property safety of revenue passenger.
The application first aspect embodiment proposes a kind of alarm method of automatic driving vehicle, comprising:
Obtain the interior monitoring image of automatic driving vehicle；
According to the interior monitoring image, the personnel's relationship and relative distance between passenger are identified；
When comparing first threshold corresponding less than personnel's relationship with the determination relative distance, remote alarms letter is sent
Breath；
It controls the automatic driving vehicle and continues traveling to setting website.
As the first possible implementation of the embodiment of the present application, the control automatic driving vehicle is after continuing
It sails to setting website, comprising:
First duration needed for obtaining responding to the setting website；
According to first duration and the automatic driving vehicle travel to the second duration needed for the setting website it
Between difference, control the automatic driving vehicle continue traveling to setting website.
As second of possible implementation of the embodiment of the present application, it is described according to first duration and it is described nobody
The difference needed for vehicle driving to the setting website between the second duration is driven, controls the automatic driving vehicle after continuing
It sails to setting website, comprising:
If first duration is less than or equal to second duration, the automatic driving vehicle is controlled not less than setting
Standard speed along setting canonical path travel to the setting website；
If first duration is greater than second duration, the automatic driving vehicle is controlled lower than the standard speed
It travels to the setting website.
As the third possible implementation of the embodiment of the present application, if first duration is greater than described second
Duration controls the automatic driving vehicle to travel lower than the standard speed to the setting website, comprising:
If the difference of first duration and second duration is less than or equal to difference threshold, the automatic driving car is controlled
Travelled to the setting website along the canonical path lower than the standard speed；
If the difference of first duration and second duration is greater than the difference threshold, the automatic driving vehicle is controlled
With the route running lower than standard speed edge reset to the setting website；Wherein, the route of the reset
It is longer than the canonical path.
As the 4th kind of possible implementation of the embodiment of the present application, the length of the route of the reset is with described
The difference of first duration and the second duration increases.
As the 5th kind of possible implementation of the embodiment of the present application, the control automatic driving vehicle is to be lower than
The standard speed is after the route running to the setting website reset, further includes:
The closing of the door of the automatic driving vehicle is maintained, and broadcasting van failure in the car.
Personnel's relationship and phase as the 6th kind of possible implementation of the embodiment of the present application, between the identification passenger
After adjusting the distance, further includes:
When comparing second threshold corresponding less than personnel's relationship with the determination relative distance, the passenger is carried out
Video recording.
The alarm method of the automatic driving vehicle of the embodiment of the present application, by the interior monitoring figure for obtaining automatic driving vehicle
Picture identifies personnel's relationship and relative distance between passenger according to interior monitoring image, compares to determine that relative distance is less than people
When member's corresponding first threshold of relationship, remote alarms information is sent, control automatic driving vehicle continues traveling to setting website.It should
After method recognizes personnel's relationship and relative distance between passenger by interior monitoring image, it is less than in the relative distance of passenger
When the corresponding first threshold of personnel's relationship, passenger sends remote alarms information there may be suspicious actions, and then passes through control nothing
People drives travel speed, route etc. of vehicle to ensure that police gets on the bus inspection in setting website, ensures that revenue passenger
The person and property safety.
The application second aspect embodiment proposes a kind of warning device of automatic driving vehicle, comprising:
Module is obtained, for obtaining the interior monitoring image of automatic driving vehicle；
Identification module, for identifying the personnel's relationship and relative distance between passenger according to the interior monitoring image；
Comparison module, when for comparing first threshold corresponding less than personnel's relationship with the determination relative distance,
Send remote alarms information；
Control module continues traveling to setting website for controlling the automatic driving vehicle.
The warning device of the automatic driving vehicle of the embodiment of the present application, by the interior monitoring figure for obtaining automatic driving vehicle
Picture identifies personnel's relationship and relative distance between passenger according to interior monitoring image, compares to determine that relative distance is less than people
When member's corresponding first threshold of relationship, remote alarms information is sent, control automatic driving vehicle continues traveling to setting website.It should
After method recognizes personnel's relationship and relative distance between passenger by interior monitoring image, it is less than in the relative distance of passenger
When the corresponding first threshold of personnel's relationship, passenger sends remote alarms information there may be suspicious actions, and then passes through control nothing
People drives travel speed, route etc. of vehicle to ensure that police gets on the bus inspection in setting website, ensures that revenue passenger
The person and property safety.
The application third aspect embodiment proposes a kind of electronic equipment, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, when the processor executes described program, such as above-described embodiment is realized
Described in automatic driving vehicle alarm method.
The application fourth aspect embodiment proposes a kind of computer readable storage medium, is stored thereon with computer journey
Sequence, which is characterized in that the alarm such as above-mentioned automatic driving vehicle as described in the examples is realized when the program is executed by processor
Method.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of the alarm method of automatic driving vehicle provided by the embodiment of the present application；
Fig. 2 is a kind of shape exemplary diagram of automatic driving vehicle provided by the embodiments of the present application；
Fig. 3 is a kind of internal structure exemplary diagram of automatic driving vehicle provided by the embodiments of the present application；
Fig. 4 is a kind of camera distribution examples figure of automatic driving vehicle provided by the embodiments of the present application；
Fig. 5 is the flow diagram of the alarm method of another automatic driving vehicle provided by the embodiments of the present application；
Fig. 6 is a kind of structural schematic diagram of the warning device of automatic driving vehicle provided by the embodiments of the present application；
Fig. 7 shows the block diagram for being suitable for the example electronic device for being used to realize the application embodiment.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
Below with reference to the accompanying drawings the alarm method and device of the automatic driving vehicle of the embodiment of the present application are described.
Fig. 1 is a kind of flow diagram of the alarm method of automatic driving vehicle provided by the embodiment of the present application.
As shown in Figure 1, the alarm method of the automatic driving vehicle the following steps are included:
Step 101, the interior monitoring image of automatic driving vehicle is obtained.
Wherein, automatic driving vehicle refers to the intelligent driving instrument relied primarily on Che Nei based on computer system to realize
It is unmanned.It usually perceives vehicle-periphery using onboard sensor, and according to perception road obtained, vehicle
Position and obstacle information, control the steering and speed of vehicle, to enable the vehicle to reliably and securely travel on road.
In the embodiment of the present application, vehicle interior can be monitored by the camera being arranged in automatic driving vehicle,
To get the interior monitoring image of the automatic driving vehicle of camera acquisition.
As an example, referring to fig. 2, Fig. 2 is that a kind of shape of automatic driving vehicle provided by the embodiments of the present application is shown
Example diagram.As shown in Fig. 2, the automatic driving vehicle is unmanned minibus, main traveling is in the regions such as residential quarters, park.
As shown in figure 3, the unmanned minibus multiplies to guarantee environment by bus and unmanned normal operation for 14
Visitor uses, wherein 8 seats are distributed in headstock, the tailstock, car door opposite, 6 standing places are distributed in the centre of vehicle.
As shown in figure 4, the unmanned minibus is internally provided with 5 cameras for comprehensive monitoring car situation,
Part is in 4, roof end corner and central position.As a result, according to the camera being arranged inside unmanned minibus, Ke Yijian
The behavior of entire passengers in vehicle is controlled, discovery has the passenger of abnormal behaviour in time.
Step 102, according to interior monitoring image, personnel's relationship and relative distance between passenger are identified.
It, can be according to interior monitoring figure after getting the interior monitoring image of automatic driving vehicle in the embodiment of the present application
As judging the quantity of passenger inside the vehicle, to ensure passengers quantity in the range of allowing carrying, avoid it is overcrowding, to guarantee passenger inside the vehicle
It will not feel crowded.
For example, when automatic driving vehicle is travelled to a certain website, the number got on the bus is more, leads to interior passenger
Allow the quantity carried more than vehicle.In this case, according to the car for the camera acquisition being arranged inside automatic driving vehicle
Monitoring image, when determining interior overcrowding, can by way of voice prompting reminding passengers, so as to avoid overcrowding driving, really
The safety that passenger rides is protected.
In the embodiment of the present application, after getting interior monitoring image, the passenger identity in monitoring image can be carried out
Identification, to identify personnel's relationship and the relative distance between passenger.
As a kind of possible implementation, interior monitoring image can be identified using face recognition technology, with
Identification obtains the identity information of passenger, and then is closed using the personnel between the social relationships identifying system identification passenger based on image
System.For example, the identity of passenger can be acquaintance often by bus, people by bus, or never took the strange of this vehicle once in a while
Passenger.
Wherein, face recognition technology is a kind of bio-identification skill for carrying out identification based on facial feature information of people
Art.Image or video flowing containing face, and automatic detection and tracking face in the picture are acquired with video camera or camera, into
And to a series of the relevant technologies that the face detected is identified, usually also referred to as Identification of Images, face recognition.
It is understood that the relationship between the personage in image is divided by the social relationships identifying system based on image
Predefined relationship type, such as friend, household, acquaintance, stranger.Interior monitoring image is inputted into social relationships identifying system
Afterwards, it can identify to obtain personnel's relationship between passenger.Wherein, the social relationships identifying system based on image, is by training
What personnel's relationship in different scenes obtained, it can be with the relationship between Accurate Prediction personnel.
It should be noted that above by the social relationships identifying system based on image to personnel's relationship between passenger
Identification is only used as exemplary representation, can also be realized using remaining possible mode, not limited this in the present embodiment.
As an example, when being identified using face recognition technology to interior monitoring image, when identification obtains certain
When the identity of one passenger is strange passenger, can also be matched according to the big data that cloud stores the strange passenger and it is interior remaining
Personnel's relationship between passenger.If personnel's relationship that identification obtains between the strange passenger and remaining interior passenger is strange pass
System then identifies the relative distance between the strange passenger and remaining interior passenger according to interior monitoring image.
In the embodiment of the present application, it can be sat according to the pixel in passenger each in automatic driving vehicle in the car monitoring image
Mark, to calculate the relative distance between passenger.
Step 103, when comparing to determine that relative distance is less than the corresponding first threshold of personnel's relationship, remote alarms letter is sent
Breath.
Wherein, the corresponding first threshold of personnel's relationship refers to the minimum value that the relative distance between strange passenger allows.
In the embodiment of the present application, during automatic driving vehicle normally travel, according to the interior monitoring figure got
After recognizing the relative distance between passenger, compares the relative distance between two strange passengers, determining that relative distance is small
When personnel's relationship corresponding first threshold, the warning device of automatic driving vehicle sends remote alarms information automatically.As a result, can
Enough so that police has found the abnormal behaviour of passenger inside the vehicle according to warning message in time.
For example, it when larceny occurs in automatic driving vehicle, in this case, is identified according to interior monitoring image
The relative distance between thief and stolen passenger arrived is less than 0, and the duration is more than 5 seconds, the alarm of automatic driving vehicle
Device can send remote alarms information automatically, notify that nearby police gets on the bus inspection in next website, to ensure multiplying for revenue passenger
Vehicle safety.
Step 104, control automatic driving vehicle continues traveling to setting website.
In the embodiment of the present application, determining the relative distance between passenger less than the corresponding first threshold of personnel's relationship, hair
After sending remote alarms information, the warning device of automatic driving vehicle will be calculated needed for police's responding to vehicle driving to setting website
The first duration and automatic driving vehicle travel to setting website needed for the second duration.In turn, according to the first duration and
Difference between two durations, control automatic driving vehicle continue traveling to setting website.
It should be noted that can the first duration and automatic driving vehicle row according to needed for police's responding to setting website
It sails to the second duration needed for setting website, the speed and traffic route of control automatic driving vehicle traveling, to ensure in police
Traveling extremely sets website after examining the setting website of arrival.
The alarm method of the automatic driving vehicle of the embodiment of the present application, by the interior monitoring figure for obtaining automatic driving vehicle
Picture identifies personnel's relationship and relative distance between passenger according to interior monitoring image, compares to determine that relative distance is less than people
When member's corresponding first threshold of relationship, remote alarms information is sent, control automatic driving vehicle continues traveling to setting website.It should
After method recognizes personnel's relationship and relative distance between passenger by interior monitoring image, in the abnormal row of discovery passenger
It is rear, transmission remote alarms information, and then by travel speed, route of control automatic driving vehicle etc. to ensure that police is setting
Determine website to get on the bus inspection, ensures that the personal safety of revenue passenger.
It, can be according to police's responding first duration to needed for setting website and nobody as a kind of possible implementation
Difference between second duration needed for driving vehicle driving extremely setting website, control automatic driving vehicle continue traveling to setting
Website, to ensure that police in time can check vehicle in setting website.The above process is carried out below with reference to Fig. 5 detailed
It introduces, Fig. 5 is the flow diagram of the alarm method of another automatic driving vehicle provided by the embodiments of the present application.
As shown in figure 5, the alarm method of the automatic driving vehicle may comprise steps of:
Step 201, the interior monitoring image of automatic driving vehicle is obtained.
Step 202, according to interior monitoring image, personnel's relationship and relative distance between passenger are identified.
In the embodiment of the present application, the realization process of step 201 to step 202 may refer to step 101 in above-described embodiment
To the realization process of step 102, details are not described herein.
Step 203, when comparing to determine that relative distance is less than the corresponding second threshold of personnel's relationship, passenger is recorded
Picture.
Wherein, the corresponding second threshold of personnel's relationship can refer to the relative distance between strange passenger for abnormal distance
Corresponding value.
In the embodiment of the present application, during automatic driving vehicle normally travel, according to the interior monitoring figure got
After recognizing the relative distance between passenger, compares the relative distance between two strange passengers, determining that relative distance is small
When personnel's relationship corresponding second threshold, video recording evidence obtaining is carried out to passenger, the suspicious row of passenger occurs in time according to video recording
For, such as the behaviors such as stealing, harassing and wrecking, and and alarm.
For example, the relative distance between two strange passenger A and passenger B is recognized according to interior monitoring image to be less than
0.05 meter, the camera starting recording function of automatic driving vehicle is controlled, is recorded a video to passenger A and passenger B, with entry altitude
The state of alert.In turn, determine whether strange passenger A and passenger B has occurred suspicious actions according to video recording.
Step 204, when comparing to determine that relative distance is less than the corresponding first threshold of personnel's relationship, remote alarms letter is sent
Breath.
In the embodiment of the present application, the realization process of step 204 may refer to the realization of step 103 in above-described embodiment
Journey, details are not described herein.
Step 205, the first duration needed for obtaining responding to setting website.
In the embodiment of the present application, the speed that can be received a crime report according to police, and the position received a crime report is between setting website
Distance, the first duration needed for prediction police's responding to setting website.
For example, after issuing remote alarms information, police immediately receives a crime report, and receive a crime report position between setting website away from
It is close from relatively, at this point, the first duration needed for responding to setting website is shorter.If police does not receive a crime report for a long time, or position of receiving a crime report
To when setting the distance between website farther out, the first duration needed for responding to setting website is longer.
Step 206, it is travelled according to the first duration and automatic driving vehicle between the second duration needed for setting website
Difference, control automatic driving vehicle continue traveling to setting website.
In the embodiment of the present application, the first duration and automatic driving car needed for determining police's responding to setting website
Needed for traveling to setting website after the second duration, it can be driven according to the first duration and the second duration to control nobody
The travel speed and travel route of vehicle are sailed, to ensure that police can arrive before automatic driving vehicle is travelled to setting website
It reaches.
Under a kind of possible scene, the first duration needed for neighbouring police's responding to setting website is less than or equal to nothing
Second duration needed for people drives vehicle driving to setting website can control automatic driving vehicle in this case with not low
It is travelled along the canonical path of setting to setting website in the standard speed of setting.
Under alternatively possible scene, the first duration needed for neighbouring police's responding to setting website is driven greater than nobody
Second duration needed for sailing vehicle driving to setting website controls automatic driving vehicle in this case to be lower than standard speed
Traveling extremely setting website.Thereby, it is possible to the speed by reducing automatic driving vehicle traveling to extend vehicle driving to setting website
The second required duration, to ensure that police can reach before automatic driving vehicle is travelled to website.
As a kind of possible implementation, the first duration needed for neighbouring police's responding to setting website is greater than nobody
Second duration needed for driving vehicle driving to setting website, and the difference of the first duration and the second duration is less than or equal to difference
Threshold value.In this case, control automatic driving vehicle lower than standard speed along canonical path to travel to setting website.
As alternatively possible implementation, the first duration needed for neighbouring police's responding to setting website is greater than nothing
Second duration needed for people drives vehicle driving to setting website, and the difference of the first duration and the second duration is greater than difference threshold
Value, can be served as reasons extremely with road ahead, control automatic driving vehicle with the route running lower than standard speed along reset
To setting website.Thereby, it is possible in the case where not causing abnormal passenger to suspect, extend needed for vehicle driving to setting website
Time, to ensure that police reaches setting website in time.
It should be noted that the route reset is longer than canonical path, and the length of the route reset is with the
The difference of one duration and the second duration increases.It gets to set it is to be understood that receiving a crime report slowly or takeing a long time in police
When determining website, need automatic driving vehicle to select farther route and reduce travel speed come extend traveling to setting website when
Between, to ensure police in vehicle driving to inspection of getting on the bus in time when setting website.
In the embodiment of the present application, in automatic driving vehicle extremely to be set lower than standard speed along the route running reset
After website, neighbouring police also not up to sets website, can maintain the closing of the door of automatic driving vehicle, and broadcast in the car
Vehicle trouble.As a result, in the case where not causing abnormal passenger to suspect, the regular hour is striven for for the arrival of police.
In another possible situation, in automatic driving vehicle with the route running lower than standard speed along reset
To setting website, after the closing of the door long period for maintaining automatic driving vehicle, such as 3 minutes, the warning message of transmission
Also nobody receives a crime report or police does not reach setting website also.In this case, it can control automatic driving vehicle and restore normal fortune
Row, in order to avoid influence experiencing by bus for revenue passenger.If not getting off in the setting suspicious passenger of website, automatic driving car can control
Continue to send remote alarms information, so that police gets on the bus inspection in next website.
The alarm method of the automatic driving vehicle of the embodiment of the present application, by the interior monitoring figure for obtaining automatic driving vehicle
Picture identifies personnel's relationship and relative distance between passenger according to interior monitoring image, compares to determine that relative distance is less than people
It when member's corresponding second threshold of relationship, records a video, compares to determine that relative distance is less than personnel's relationship corresponding the to passenger
When one threshold value, remote alarms information is sent, the first duration needed for obtaining responding to setting website, according to the first duration and nobody
Difference between second duration needed for driving vehicle driving extremely setting website, control automatic driving vehicle continue traveling to setting
Website.As a result, after finding suspicious passenger, according to the first duration and automatic driving vehicle needed for police's responding to setting website
Difference needed for traveling to setting website between the second duration, control vehicle continue traveling to setting website travel speed,
Travel route checks vehicle with ensuring that police can get on the bus in time in setting website, ensures that revenue passenger
The safety of the person and property.
In order to realize above-described embodiment, the application also proposes a kind of warning device of automatic driving vehicle.
Fig. 6 is a kind of structural schematic diagram of the warning device of automatic driving vehicle provided by the embodiments of the present application.
As shown in fig. 6, the warning device 100 of the automatic driving vehicle includes: to obtain module 110, identification module 120, ratio
Compared with module 130 and control module 140.
Module 110 is obtained, for obtaining the interior monitoring image of automatic driving vehicle.
Identification module 120, for identifying personnel's relationship and relative distance between passenger according to interior monitoring image.
Comparison module 130 when for comparing to determine that relative distance is less than the corresponding first threshold of personnel's relationship, is sent remote
Journey warning message.
Control module 140 continues traveling to setting website for controlling automatic driving vehicle.
As a kind of possible implementation, control module 140 can also include:
Acquiring unit, for the first duration needed for obtaining responding to setting website.
Control unit, for according to the first duration and automatic driving vehicle travel to setting website needed for the second duration it
Between difference, control automatic driving vehicle continue traveling to setting website.
As alternatively possible implementation, control unit can also be specifically used for:
If the first duration is less than or equal to the second duration, automatic driving vehicle is controlled with the standard speed edge not less than setting
The canonical path of setting is travelled to setting website；
If the first duration is greater than the second duration, automatic driving vehicle is controlled to travel lower than standard speed to setting website.
As alternatively possible implementation, control unit can also be specifically used for:
If the difference of the first duration and the second duration is less than or equal to difference threshold, automatic driving vehicle is controlled to be lower than standard
Speed is travelled along canonical path to setting website；
If the difference of the first duration and the second duration is greater than difference threshold, automatic driving vehicle is controlled to be lower than standard speed edge
The route running of reset is to setting website；Wherein, the route of reset is longer than canonical path.
As alternatively possible implementation, the length of the route of reset with the first duration and the second duration difference
Increase.
As alternatively possible implementation, control unit can also be specifically used for:
Maintain the closing of the door of automatic driving vehicle, and broadcasting van failure in the car.
As alternatively possible implementation, the warning device 100 of the automatic driving vehicle, further includes:
Picture recording module, when for comparing to determine that relative distance is less than the corresponding second threshold of personnel's relationship, to passenger into
Row video recording.
It should be noted that the explanation of the aforementioned alarm method embodiment to automatic driving vehicle is also applied for the reality
The warning device of the automatic driving vehicle of example is applied, details are not described herein again.
The warning device of the automatic driving vehicle of the embodiment of the present application, by the interior monitoring figure for obtaining automatic driving vehicle
Picture identifies personnel's relationship and relative distance between passenger according to interior monitoring image, compares to determine that relative distance is less than people
When member's corresponding first threshold of relationship, remote alarms information is sent, control automatic driving vehicle continues traveling to setting website.It should
After method recognizes personnel's relationship and relative distance between passenger by interior monitoring image, in the abnormal row of discovery passenger
It is rear, transmission remote alarms information, and then by travel speed, route of control automatic driving vehicle etc. to ensure that police is setting
Determine website to get on the bus inspection, ensures that the personal safety of revenue passenger.
In order to realize above-described embodiment, the application also proposes a kind of electronic equipment, including memory, processor and is stored in
On memory and the computer program that can run on a processor, when the processor executes described program, such as above-mentioned reality is realized
Apply the alarm method of automatic driving vehicle described in example.
In order to realize above-described embodiment, the application also proposes a kind of computer readable storage medium, is stored thereon with calculating
Machine program realizes the alarm method such as above-mentioned automatic driving vehicle as described in the examples when the program is executed by processor.
Fig. 7 shows the block diagram for being suitable for the example electronic device for being used to realize the application embodiment.The electricity that Fig. 7 is shown
Sub- equipment 12 is only an example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in fig. 7, electronic equipment 12 is showed in the form of universal electronic device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (Industry Standard
Architecture；Hereinafter referred to as: ISA) bus, microchannel architecture (Micro Channel Architecture；Below
Referred to as: MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics Standards
Association；Hereinafter referred to as: VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnection；Hereinafter referred to as: PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
Memory 28 may include the computer system readable media of form of volatile memory, such as random access memory
Device (Random Access Memory；Hereinafter referred to as: RAM) 30 and/or cache memory 32.Electronic equipment 12 can be into
One step includes other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, it deposits
Storage system 34 can be used for reading and writing immovable, non-volatile magnetic media, and (Fig. 7 do not show, commonly referred to as " hard drive
Device ").Although being not shown in Fig. 7, the disk for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided and driven
Dynamic device, and to removable anonvolatile optical disk (such as: compact disc read-only memory (Compact Disc Read Only
Memory；Hereinafter referred to as: CD-ROM), digital multi CD-ROM (Digital Video Disc Read Only
Memory；Hereinafter referred to as: DVD-ROM) or other optical mediums) read-write CD drive.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, and it is each that these program modules are configured to perform the application
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiments described herein.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (Local Area Network；Hereinafter referred to as: LAN), wide area network
(Wide Area Network；Hereinafter referred to as: WAN) and/or public network, for example, internet) communication.As shown, network is suitable
Orchestration 20 is communicated by bus 18 with other modules of electronic equipment 12.It should be understood that can be combined although being not shown in Fig. 7
Electronic equipment 12 uses other hardware and/or software module, including but not limited to: microcode, device driver, redundancy processing are single
Member, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the alarm method of the automatic driving vehicle referred in previous embodiment.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
Embodiments herein is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the application
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of application
Type.
Claims (16)
1. a kind of alarm method of automatic driving vehicle, which is characterized in that the described method comprises the following steps:
Obtain the interior monitoring image of automatic driving vehicle；
According to the interior monitoring image, the personnel's relationship and relative distance between passenger are identified；
When comparing first threshold corresponding less than personnel's relationship with the determination relative distance, remote alarms information is sent；
It controls the automatic driving vehicle and continues traveling to setting website.
2. alarm method according to claim 1, which is characterized in that the control automatic driving vehicle continues to travel
To setting website, comprising:
First duration needed for obtaining responding to the setting website；
It is travelled according to first duration and the automatic driving vehicle between the second duration needed for the setting website
Difference controls the automatic driving vehicle and continues traveling to setting website.
3. alarm method according to claim 2, which is characterized in that it is described according to first duration and it is described nobody drive
Difference between second duration needed for sailing vehicle driving to the setting website, controls the automatic driving vehicle and continues to travel
To setting website, comprising:
If first duration is less than or equal to second duration, the automatic driving vehicle is controlled with the mark not less than setting
Quasi velosity is travelled along the canonical path of setting to the setting website；
If first duration is greater than second duration, the automatic driving vehicle is controlled to travel lower than the standard speed
To the setting website.
4. alarm method according to claim 3, which is characterized in that if first duration is greater than described second
It is long, the automatic driving vehicle is controlled to travel lower than the standard speed to the setting website, comprising:
If the difference of first duration and second duration be less than or equal to difference threshold, control the automatic driving vehicle with
It is travelled along the canonical path to the setting website lower than the standard speed；
If the difference of first duration and second duration is greater than the difference threshold, the automatic driving vehicle is controlled with low
In the standard speed along the route running reset to the setting website；Wherein, the route of the reset is longer than
The canonical path.
5. alarm method according to claim 4, which is characterized in that the length of the route of the reset is with described
The difference of one duration and the second duration increases.
6. alarm method according to claim 4, which is characterized in that the control automatic driving vehicle is to be lower than institute
Standard speed is stated after the route running to the setting website reset, further includes:
The closing of the door of the automatic driving vehicle is maintained, and broadcasting van failure in the car.
7. alarm method according to claim 1-6, which is characterized in that the personnel between the identification passenger are closed
After system and relative distance, further includes:
When comparing second threshold corresponding less than personnel's relationship with the determination relative distance, the passenger is recorded
Picture.
8. a kind of warning device of automatic driving vehicle, which is characterized in that described device includes:
Module is obtained, for obtaining the interior monitoring image of automatic driving vehicle；
Identification module, for identifying the personnel's relationship and relative distance between passenger according to the interior monitoring image；
Comparison module is sent when for comparing first threshold corresponding less than personnel's relationship with the determination relative distance
Remote alarms information；
Control module continues traveling to setting website for controlling the automatic driving vehicle.
9. warning device according to claim 8, which is characterized in that the control module, further includes:
Acquiring unit, for the first duration needed for obtaining responding to the setting website；
Control unit, for being travelled according to first duration and the automatic driving vehicle to needed for the setting website
Difference between two durations controls the automatic driving vehicle and continues traveling to setting website.
10. warning device according to claim 9, which is characterized in that described control unit is also used to:
If first duration is less than or equal to second duration, the automatic driving vehicle is controlled with the mark not less than setting
Quasi velosity is travelled along the canonical path of setting to the setting website；
If first duration is greater than second duration, the automatic driving vehicle is controlled to travel lower than the standard speed
To the setting website.
11. warning device according to claim 10, which is characterized in that described control unit is also used to:
If the difference of first duration and second duration be less than or equal to difference threshold, control the automatic driving vehicle with
It is travelled along the canonical path to the setting website lower than the standard speed；
If the difference of first duration and second duration is greater than the difference threshold, the automatic driving vehicle is controlled with low
In the standard speed along the route running reset to the setting website；Wherein, the route of the reset is longer than
The canonical path.
12. warning device according to claim 11, which is characterized in that the length of the route of the reset is with described
The difference of first duration and the second duration increases.
13. warning device according to claim 11, which is characterized in that described control unit is also used to:
The closing of the door of the automatic driving vehicle is maintained, and broadcasting van failure in the car.
14. according to the described in any item warning devices of claim 8-13, which is characterized in that described device, further includes:
Picture recording module, when for comparing second threshold corresponding less than personnel's relationship with the determination relative distance, to institute
Passenger is stated to record a video.
15. a kind of electronic equipment, which is characterized in that on a memory and can be in processor including memory, processor and storage
The computer program of upper operation when the processor executes described program, realizes nobody as described in any in claim 1-7
Drive the alarm method of vehicle.
16. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The alarm method of the automatic driving vehicle as described in any in claim 1-7 is realized when execution.
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